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                    简介
            
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        <li class="chapter " data-level="1.2" data-path="chapter1.html">
            
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                    第1章 Cyber RT 概述与环境搭建
            
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        <li class="chapter " data-level="1.2.1" data-path="chapter1/11-cyber-rt-jian-jie.html">
            
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                    1.1 Cyber RT 简介
            
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        <li class="chapter " data-level="1.2.2" data-path="chapter1/12-cyber-rt-an-zhuang.html">
            
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                    1.2 Cyber RT 安装
            
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                    1.2.1 准备工作
            
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        <li class="chapter " data-level="1.2.2.2" data-path="chapter1/12-cyber-rt-an-zhuang/122-cyber-rt-an-zhuang.html">
            
                <a href="chapter1/12-cyber-rt-an-zhuang/122-cyber-rt-an-zhuang.html">
            
                    
                    1.2.2 Cyber RT 安装
            
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        <li class="chapter " data-level="1.2.2.3" data-path="chapter1/12-cyber-rt-an-zhuang/123-ce-shi.html">
            
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                    1.2.3 测试
            
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        <li class="chapter " data-level="1.2.3" data-path="chapter1/14-cyber-rt-ji-cheng-kai-fa-huan-jing-da-jian.html">
            
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                    1.3 Cyber RT 集成开发环境搭建
            
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        <li class="chapter " data-level="1.2.3.1" data-path="chapter1/14-cyber-rt-ji-cheng-kai-fa-huan-jing-da-jian/131-vscode-xia-zai-yu-an-zhuang.html">
            
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                    1.3.1 Vscode 下载与安装
            
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                    1.3.2 Vscode 插件的安装以及使用
            
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        <li class="chapter " data-level="1.2.4" data-path="chapter1/13-cyber-rt-kuai-su-ti-yan.html">
            
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                    1.4 Cyber RT 快速体验
            
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                    1.4.1 c++实现HelloWorld
            
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                    1.4.2 Python实现HelloWorld
            
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                    1.5 预备知识——bazel
            
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                    1.5.1 Bazel使用之基本流程
            
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                    1.5.2 Bazel使用之库依赖
            
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        <li class="chapter " data-level="1.2.6" data-path="chapter1/16-ben-zhang-xiao-jie.html">
            
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                    1.6 预备知识——protobuf
            
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                    1.6.1 proto使用之文件创建
            
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                    1.6.2 proto读写之C++实现
            
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                    1.6.3 proto读写之Python实现
            
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                    1.7 本章小结
            
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        <li class="chapter " data-level="1.3" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi.html">
            
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                    第2章 Cyber RT 通信机制
            
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                    2.1 话题通信
            
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        <li class="chapter " data-level="1.3.1.1" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/21-hua-ti-tong-xin/211cshi-xian.html">
            
                <a href="di-2-zhang-cyber-rt-tong-xin-ji-zhi/21-hua-ti-tong-xin/211cshi-xian.html">
            
                    
                    2.1.1C++实现
            
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        <li class="chapter " data-level="1.3.1.2" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/21-hua-ti-tong-xin/212-pythonshi-xian.html">
            
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                    2.1.2 Python实现
            
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        <li class="chapter " data-level="1.3.2" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/22-fu-wu-tong-xin.html">
            
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                    2.2 服务通信
            
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        <li class="chapter " data-level="1.3.2.1" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/22-fu-wu-tong-xin/221-cshi-xian.html">
            
                <a href="di-2-zhang-cyber-rt-tong-xin-ji-zhi/22-fu-wu-tong-xin/221-cshi-xian.html">
            
                    
                    2.2.1 C++实现
            
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        <li class="chapter " data-level="1.3.2.2" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/22-fu-wu-tong-xin/222-pythonshi-xian.html">
            
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                    2.2.2 Python实现
            
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        <li class="chapter " data-level="1.3.3" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/23-can-shu.html">
            
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                    2.3 参数
            
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        <li class="chapter " data-level="1.3.3.1" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/23-can-shu/231-cshi-xian.html">
            
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                    2.3.1 C++实现
            
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        <li class="chapter " data-level="1.3.3.2" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/23-can-shu/232-pythonshi-xian.html">
            
                <a href="di-2-zhang-cyber-rt-tong-xin-ji-zhi/23-can-shu/232-pythonshi-xian.html">
            
                    
                    2.3.2 Python实现
            
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        <li class="chapter " data-level="1.3.4" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/24-zu-jian.html">
            
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                    2.4 组件
            
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                    2.4.1 通用组件演示(上)
            
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        <li class="chapter " data-level="1.3.4.2" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/24-zu-jian/242-ji-ben-zu-jian-yan-793a28-4e0b29.html">
            
                <a href="di-2-zhang-cyber-rt-tong-xin-ji-zhi/24-zu-jian/242-ji-ben-zu-jian-yan-793a28-4e0b29.html">
            
                    
                    2.4.2 通用组件演示(下)
            
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        <li class="chapter " data-level="1.3.4.3" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/24-zu-jian/242-shi-jian-zu-jian-yan-shi.html">
            
                <a href="di-2-zhang-cyber-rt-tong-xin-ji-zhi/24-zu-jian/242-shi-jian-zu-jian-yan-shi.html">
            
                    
                    2.4.3 定时器组件演示
            
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        <li class="chapter " data-level="1.3.5" data-path="di-2-zhang-cyber-rt-tong-xin-ji-zhi/25-ben-zhang-xiao-jie.html">
            
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                    2.5 本章小结
            
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        <li class="chapter " data-level="1.4" data-path="di-3-zhang-cyber-rt-kai-fa-gong-ju.html">
            
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                    第3章 Cyber RT 开发工具
            
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                    3.1 cyber record
            
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                    3.2.1 C++ 实现
            
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        <li class="chapter " data-level="1.4.1.2" data-path="di-3-zhang-cyber-rt-kai-fa-gong-ju/32-cyberrecorder/332-python-shi-xian.html">
            
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                    3.3.2 Python 实现
            
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                    3.2 常用命令
            
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                    3.3 本章小结
            
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                    第4章 Cyber RT 常用API
            
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                    4.1 节点相关API
            
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        <li class="chapter " data-level="1.5.2" data-path="zi-65993a-chang-yong-api/2shi-jian-xiang-guan-api.html">
            
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                    4.2 话题相关API
            
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        <li class="chapter " data-level="1.5.3" data-path="zi-65993a-chang-yong-api/3ding-shi-qi-xiang-guan-api.html">
            
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                    4.3 服务相关API
            
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        <li class="chapter " data-level="1.5.4" data-path="zi-65993a-chang-yong-api/44-can-shu-xiang-guan-api.html">
            
                <a href="zi-65993a-chang-yong-api/44-can-shu-xiang-guan-api.html">
            
                    
                    4.4 参数相关API
            
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        <li class="chapter " data-level="1.5.5" data-path="zi-65993a-chang-yong-api/45-zu-jian-xiang-guan-api.html">
            
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                    4.5 组件相关API
            
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        <li class="chapter " data-level="1.5.6" data-path="zi-65993a-chang-yong-api/46-shi-jian-xiang-guan-api.html">
            
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                    4.6 时间相关API
            
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        <li class="chapter " data-level="1.5.7" data-path="zi-65993a-chang-yong-api/47-ri-zhi-xiang-guan-api.html">
            
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                    4.7 日志相关API
            
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        <li class="chapter " data-level="1.5.8" data-path="zi-65993a-chang-yong-api/48-record-xiang-guan-api.html">
            
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                    4.8 record 相关API
            
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        <li class="chapter " data-level="1.5.9" data-path="zi-65993a-chang-yong-api/48-ben-zhang-xiao-jie.html">
            
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                    4.9 本章小结
            
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                                <h1 id="&#x8BFE;&#x7A0B;&#x7B80;&#x4ECB;">&#x8BFE;&#x7A0B;&#x7B80;&#x4ECB;</h1>
<p>Baidu <em>Apollo</em>(<em>&#x963F;&#x6CE2;&#x7F57;</em>) &#x662F;&#x767E;&#x5EA6;&#x53D1;&#x5E03;&#x7684;&#x81EA;&#x52A8;&#x9A7E;&#x9A76;&#x8BA1;&#x5212;,&#x5305;&#x62EC;&#x5F00;&#x653E;&#x5E73;&#x53F0;&#x53CA;&#x4F01;&#x4E1A;&#x7248;&#x89E3;&#x51B3;&#x65B9;&#x6848;&#x3002;<em>Apollo</em>&#x5F00;&#x653E;&#x5E73;&#x53F0;&#x9762;&#x5411;&#x6240;&#x6709;&#x5F00;&#x53D1;&#x8005;&#x63D0;&#x4F9B;&#x6700;&#x5F00;&#x653E;&#x3001;&#x5B8C;&#x6574;&#x3001;&#x5B89;&#x5168;&#x7684;&#x81EA;&#x52A8;&#x9A7E;&#x9A76;&#x5F00;&#x6E90;&#x5E73;&#x53F0;&#x3002;&#x5F53;&#x524D;&#x6559;&#x7A0B;&#x4E3B;&#x8981;&#x4ECB;&#x7ECD;Apollo&#x4E2D;&#x7684;&#x6838;&#x5FC3;&#x6A21;&#x5757;&#x4E4B;&#x4E00; Cyber RT&#x3002;</p>
<h4 id="1&#x5185;&#x5BB9;&#x7B80;&#x4ECB;">1.&#x5185;&#x5BB9;&#x7B80;&#x4ECB;</h4>
<p>&#x5173;&#x4E8E;CyberRT&#x4E3B;&#x8981;&#x4ECB;&#x7ECD;&#x5982;&#x4E0B;&#x5185;&#x5BB9;:</p>
<table>
<thead>
<tr>
<th style="text-align:left">&#x7AE0;&#x8282;</th>
<th style="text-align:left">&#x5185;&#x5BB9;</th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align:left">&#x7B2C;1&#x7AE0; Cyber RT&#x6982;&#x8FF0;&#x4E0E;&#x73AF;&#x5883;&#x642D;&#x5EFA;</td>
<td style="text-align:left">CyberRT&#x7B80;&#x4ECB;&#x3001;&#x5B89;&#x88C5;&#x3001;VsCode&#x5B89;&#x88C5;&#x4EE5;&#x53CA;&#x4F7F;&#x7528;&#x3001;Bazel&#x3001;Protobuf&#x3002;</td>
</tr>
<tr>
<td style="text-align:left">&#x7B2C;2&#x7AE0; Cyber RT&#x901A;&#x4FE1;&#x673A;&#x5236;</td>
<td style="text-align:left">&#x8BDD;&#x9898;&#x3001;&#x670D;&#x52A1;&#x3001;&#x53C2;&#x6570;&#x3001;&#x7EC4;&#x4EF6;&#x7B49;&#x76F8;&#x5173;&#x6982;&#x5FF5;&#x4EE5;&#x53CA;&#x4F8B;&#x7A0B;&#x5B9E;&#x73B0;&#x3002;</td>
</tr>
<tr>
<td style="text-align:left">&#x7B2C;3&#x7AE0; Cyber RT&#x5F00;&#x53D1;&#x5DE5;&#x5177;</td>
<td style="text-align:left">CyberRT &#x4E2D;&#x7684;&#x5E38;&#x7528;&#x5DE5;&#x5177;:cyber_monitor&#x3001;cyber_recorder&#x548C;&#x8BF8;&#x591A;&#x547D;&#x4EE4;&#x884C;&#x5DE5;&#x5177;&#x3002;</td>
</tr>
<tr>
<td style="text-align:left">&#x7B2C;4&#x7AE0; &#x5E38;&#x7528;API</td>
<td style="text-align:left">CyberRT&#x4E2D;&#x5E38;&#x7528;API&#x6C47;&#x603B;&#xFF0C;&#x5305;&#x62EC;&#x65F6;&#x95F4;&#x4EE5;&#x53CA;&#x5B9A;&#x65F6;&#x5668;&#x76F8;&#x5173;API&#x3002;</td>
</tr>
</tbody>
</table>
<h4 id="2&#x5B66;&#x4E60;&#x6210;&#x679C;">2.&#x5B66;&#x4E60;&#x6210;&#x679C;</h4>
<p>&#x8BE5;&#x6559;&#x7A0B;&#x5B66;&#x4E60;&#x5B8C;&#x6BD5;&#x4E4B;&#x540E;&#xFF0C;&#x53EF;&#x4EE5;&#x638C;&#x63E1;&#x5982;&#x4E0B;&#x5185;&#x5BB9;:</p>
<ul>
<li><p>&#x53EF;&#x4EE5;&#x72EC;&#x7ACB;&#x5B89;&#x88C5; Apollo &#x7684;&#x5F00;&#x53D1;&#x73AF;&#x5883;&#xFF1B;</p>
</li>
<li><p>&#x53EF;&#x4EE5;&#x4EE5;&#x7F16;&#x7801;&#x65B9;&#x5F0F;&#x5B9E;&#x73B0; Cyber RT &#x4E2D;&#x7684;&#x5404;&#x79CD;&#x901A;&#x4FE1;&#x6A21;&#x578B;&#xFF1B;</p>
</li>
<li><p>&#x53EF;&#x4EE5;&#x4F7F;&#x7528; CyberRT &#x5185;&#x7F6E;&#x5DE5;&#x5177;&#xFF0C;&#x63D0;&#x9AD8;&#x5F00;&#x53D1;&#x3001;&#x8C03;&#x8BD5;&#x6548;&#x7387;&#xFF1B;</p>
</li>
<li><p>&#x53EF;&#x4EE5;&#x719F;&#x6089; CyberRT &#x7684;&#x5E38;&#x7528;API&#x3002;</p>
</li>
</ul>
<p>&#x8BE5;&#x6559;&#x7A0B;&#x6700;&#x7EC8;&#x76EE;&#x7684;&#x662F;&#x6253;&#x7262;&#x57FA;&#x7840;&#xFF0C;&#x4E3A;Apollo&#x7684;&#x8FDB;&#x9636;&#x5B66;&#x4E60;&#x505A;&#x597D;&#x51C6;&#x5907;&#x3002;</p>
<h4 id="3&#x7B54;-&#x7591;">3.&#x7B54; &#x7591;</h4>
<p><strong>Q1.&#x5F53;&#x524D;&#x6559;&#x7A0B;&#x5B66;&#x4E60;&#x9700;&#x8981;&#x54EA;&#x4E9B;&#x77E5;&#x8BC6;&#x50A8;&#x5907;&#xFF1F;</strong></p>
<p><strong>&#x7B54;:</strong>&#x5173;&#x4E8E;&#x50A8;&#x5907;&#x77E5;&#x8BC6;&#xFF0C;&#x5EFA;&#x8BAE;&#x5982;&#x4E0B;:</p>
<ul>
<li><p>&#x64CD;&#x4F5C;&#x7CFB;&#x7EDF;: &#x4E86;&#x89E3; Linux&#xFF0C;&#x4F1A;&#x4E00;&#x4E9B;&#x7B80;&#x5355;&#x7684;&#x64CD;&#x4F5C;&#x547D;&#x4EE4;&#x3002;</p>
<p>&#x8BFE;&#x7A0B;&#x4E2D;&#x4F7F;&#x7528;&#x7684;&#x662F;VirtualBox&#x865A;&#x62DF;&#x673A;&#x5B89;&#x88C5;&#x7684;ubuntu20.04&#xFF0C;&#x64CD;&#x4F5C;&#x7CFB;&#x7EDF;&#x5DF2;&#x7ECF;&#x5B89;&#x88C5;&#x5B8C;&#x6BD5;&#x4E86;&#xFF0C;&#x53E6;&#x5916;&#xFF0C;&#x8BFE;&#x7A0B;&#x91C7;&#x7528;&#x7684;&#x662F; Apollo 6.0 &#x7248;&#xFF0C;&#x5EFA;&#x8BAE;&#x5BF9;&#x5E94;&#x7684;&#x64CD;&#x4F5C;&#x7CFB;&#x7EDF;&#x4F7F;&#x7528;ubuntu20.04 &#x6216; ubuntu18.04&#x3002;</p>
</li>
<li><p>&#x7F16;&#x7A0B;&#x8BED;&#x8A00;&#xFF1A;&#x4E86;&#x89E3; C++ &#x4E0E; Python&#x3002;</p>
<p>Apollo &#x4E2D;&#x4F7F;&#x7528;&#x4E86; C++ &#x548C; Python &#x53CC;&#x8BED;&#x7F16;&#x7A0B;&#xFF0C;&#x8BFE;&#x7A0B;&#x4E2D;&#x6848;&#x4F8B;&#x5927;&#x90E8;&#x5206;&#x4E5F;&#x4F1A;&#x5206;&#x522B;&#x4F7F;&#x7528;C++&#x548C;Python&#x5B9E;&#x73B0;&#x3002;&#x9700;&#x8981;&#x8BF4;&#x660E;&#x7684;&#x662F; Python &#x63A5;&#x53E3;&#x7684;&#x5B9E;&#x73B0;&#x601D;&#x8DEF;&#x662F;&#x5728; C++ &#x5B9E;&#x73B0;&#x7684;&#x57FA;&#x7840;&#x4E0A;&#xFF0C;&#x505A;&#x4E86;&#x4E00;&#x5C42; Python &#x7684;&#x5C01;&#x88C5;&#xFF0C;&#x7531; Python &#x6765;&#x8C03;&#x7528; C++ &#x7684;&#x5B9E;&#x73B0;&#x51FD;&#x6570;&#x3002;Cyber Python Wrapper &#x7684;&#x5B9E;&#x73B0;&#x6CA1;&#x6709;&#x4F7F;&#x7528; swig &#x7B49;&#x7B2C;&#x4E09;&#x65B9;&#x5DE5;&#x5177;&#xFF0C;&#x5B8C;&#x5168;&#x81EA;&#x4E3B;&#x5B9E;&#x73B0;&#xFF0C;&#x4EE5;&#x6B64;&#x4FDD;&#x8BC1;&#x4EE3;&#x7801;&#x7684;&#x9AD8;&#x53EF;&#x7EF4;&#x62A4;&#x6027;&#x548C;&#x53EF;&#x8BFB;&#x6027;&#x3002;</p>
</li>
</ul>
<p>&#x53E6;&#x5916;&#x8BFE;&#x7A0B;&#x4E2D;&#x4F1A;&#x6D89;&#x53CA;&#x5230; docker&#x3001;bazel&#x3001;protobuf&#x3001;dag &#x7B49;&#x5185;&#x5BB9;&#xFF0C;&#x76F8;&#x5173;&#x5185;&#x5BB9;&#x6700;&#x597D;&#x63D0;&#x524D;&#x4E86;&#x89E3;&#xFF0C;&#x4E0D;&#x4E86;&#x89E3;&#x4E5F;&#x53EF;&#x4EE5;&#xFF0C;&#x8BFE;&#x7A0B;&#x4E2D;&#x4F1A;&#x6709;&#x76F8;&#x5173;&#x4ECB;&#x7ECD;&#xFF0C;&#x867D;&#x7136;&#x6BD4;&#x8F83;&#x7B80;&#x77ED;&#xFF0C;&#x4F46;&#x57FA;&#x672C;&#x80FD;&#x591F;&#x6EE1;&#x8DB3;&#x5B66;&#x4E60;&#x9700;&#x8981;&#x3002;</p>
<p><strong>Q2.&#x9700;&#x8981;&#x6709;ROS&#x57FA;&#x7840;&#x5417;&#xFF1F;</strong></p>
<p><strong>&#x7B54;:</strong>&#x4E0D;&#x9700;&#x8981;&#xFF0C;&#x5982;&#x679C;&#x6709;&#x90A3;&#x4E48;&#x66F4;&#x597D;&#x3002;&#x8BE5;&#x8BFE;&#x7A0B;&#x8BBE;&#x8BA1;&#x7684;&#x521D;&#x8877;&#x662F;&#x8981;&#x4E0E;ROS&#x8131;&#x94A9;&#x7684;&#xFF0C;&#x4F46;&#x662F;&#x9274;&#x4E8E;CyberRT&#x4E2D;&#x7684;&#x8BB8;&#x591A;&#x6982;&#x5FF5;&#x4E0E;ROS&#x662F;&#x9AD8;&#x5EA6;&#x76F8;&#x4F3C;&#x7684;&#x4E14;&#x5728;CyberRT&#x4E4B;&#x524D;&#xFF0C;Apollo&#x5C31;&#x662F;&#x4F7F;&#x7528;&#x7684;ROS&#xFF0C;&#x6240;&#x4EE5;&#x5982;&#x679C;&#x4E86;&#x89E3;ROS&#xFF0C;&#x66F4;&#x65B9;&#x4FBF;&#x8BE5;&#x8BFE;&#x7A0B;&#x7684;&#x5B66;&#x4E60;&#x3002;</p>
<p>&#x5982;&#x679C;&#x60F3;&#x8981;&#x5B66;&#x4E60;ROS&#xFF0C;&#x8BF7;&#x79FB;&#x6B65;:<a href="https://www.bilibili.com/video/BV1Ci4y1L7ZZ" target="_blank">https://www.bilibili.com/video/BV1Ci4y1L7ZZ</a></p>
<p><strong>Q3.&#x9700;&#x8981;&#x786C;&#x4EF6;&#x652F;&#x6301;&#x5417;&#xFF1F;</strong></p>
<p><strong>&#x7B54;:</strong>&#x8BE5;&#x8BFE;&#x7A0B;&#x6D89;&#x53CA;&#x7684;&#x5185;&#x5BB9;&#x6682;&#x4E0D;&#x9700;&#x8981;&#x3002;</p>
<h4 id="4&#x53C2;&#x8003;&#x8D44;&#x6599;">4.&#x53C2;&#x8003;&#x8D44;&#x6599;</h4>
<p>Apollo &#x5B98;&#x7F51;:<a href="https://apollo.auto/" target="_blank">https://apollo.auto/</a></p>
<p>Apollo github:<a href="https://github.com/ApolloAuto/apollo" target="_blank">https://github.com/ApolloAuto/apollo</a></p>
<p>Apollo gitee:<a href="https://gitee.com/ApolloAuto/apollo" target="_blank">https://gitee.com/ApolloAuto/apollo</a></p>
<p>Apollo&#x5F00;&#x53D1;&#x8005;&#x793E;&#x533A;&#xFF1A;<a href="https://apollo.auto/developer/index_cn.html#/" target="_blank">https://apollo.auto/developer/index_cn.html#/</a></p>
<p>&#x6700;&#x540E;&#xFF0C;&#x8BFE;&#x7A0B;&#x5982;&#x679C;&#x6709;&#x4E0D;&#x5F53;&#x4E4B;&#x5904;&#xFF0C;&#x6B22;&#x8FCE;&#x6307;&#x6B63;&#xFF0C;&#x5171;&#x540C;&#x5B66;&#x4E60;&#xFF0C;&#x5171;&#x540C;&#x8FDB;&#x6B65;&#xFF0C;&#x4E3A;&#x56FD;&#x5185;&#x65E0;&#x4EBA;&#x9A7E;&#x9A76;&#x4E8B;&#x4E1A;&#x8D21;&#x732E;&#x4E00;&#x4EFD;&#x529B;&#x91CF;&#x3002;</p>
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